Saint Louis University

SCHOOL OF ENGINEERING and ARCHITECTURE

Department of Mechanical Engineering

ROTATIONAL MOTION
Rotational motion plays an important role in nature, and here we
investigate the behavior of rigid bodies when they rotate. A rigid body is one
that does not deform as it moves. The equations involved here are similar to
those that describe linear translational motion.
What is a radian?
Consider a planar object rotating about an axis perpendicular to its
plane. We describe the position of a point on the object by the coordinates r
and θ, where θ is measured with respect to the
x-axis, as in Figure 1. When the object turns through an angle θ, the point moves
𝒔
a distance s along the arc. We define the angle θ in radians as 𝜽 = 𝒓 or 𝒔 = 𝒓𝜽 .
1 radian is an angle subtended at the center of the circle by an arc of length
equal to the radius of the circle.

You can see that if θ is doubled, the arc length s will also be
doubled. Since θ is the ratio of two lengths, it is a
dimensionless quantity. The circumference of a circle is 𝒔 =
𝟐𝝅𝒓 so θ for a full circle is 2π. Thus 2π rad = 360o. It is easy to
convert radians to degrees or degrees to radians using a
ratio
Figure 1 𝜽 (𝒓𝒂𝒅𝒊𝒂𝒏𝒔) 𝟐𝝅
=
𝜽 (𝒅𝒆𝒈𝒓𝒆𝒆𝒔) 𝟑𝟔𝟎𝒐

What is RPM?
RPM means revolutions per minute (rev/min). One revolution is equal to 2π
rad or 360o. Sometimes the angular velocity of a rotating body is expressed in
RPM.

EXAMPLES:
1. What angle in radians is subtended by an arc 3 m in length, on the
circumference of a circle whose radius is 2 m?
𝒔 3𝑚
SOLUTION: 𝜽 = 𝒓 = 2𝑚 = 𝟏. 𝟓 𝒓𝒂𝒅𝒊𝒂𝒏

MODULE 6: ROTATIONAL MOTION 1

[Type here]
 Saint Louis University
SCHOOL OF ENGINEERING and ARCHITECTURE
Department of Mechanical Engineering

2. What angle in radians is subtended by an arc of length 78.54 cm on the

circumference of a circle of diameter 100 cm? What is the angle in
degrees?
𝒔 78.54 𝑐𝑚
SOLUTION: 𝜽 = 𝒓 = 100 = 𝟏. 𝟓𝟕𝟎𝟖 𝒓𝒂𝒅𝒊𝒂𝒏
( ) 𝑐𝑚
2
360𝑜
𝜃 = 1.5708 𝑟𝑎𝑑𝑖𝑎𝑛 ∗ = 𝟗𝟎𝒐
2𝜋 𝑟𝑎𝑑

3. The angle between the two radii of a circle of radius 2 m is 0.60 rad. What
length of arc is intercepted on the circumference of the circle by the two
radii?
SOLUTION: 𝑠 = 𝑟𝜃 = 2𝑚 ∗ 0.60 = 𝟏. 𝟐 𝒎

4. What is the angular velocity (in rad/s) of the crankshaft of an automobile

engine that is rotating at 4800 RPM?
𝑟𝑒𝑣 1 𝑚𝑖𝑛 2𝜋 𝑟𝑎𝑑 𝒓𝒂𝒅
SOLUTION: 𝜔 = 4800 𝑚𝑖𝑛 ∗ 60 𝑠 ∗ 1 𝑟𝑒𝑣 = 𝟓𝟎𝟐. 𝟔𝟓𝟒𝟖 𝒔
Average angular velocity
Average angular velocity 𝜔𝑎𝑣𝑒 of the body in the time interval ∆𝑡 = 𝑡2 − 𝑡1
is the ratio of the angular displacement ∆𝜃 = 𝜃2 − 𝜃1 to ∆𝑡.

∆𝜽 𝜽𝟐 − 𝜽𝟏
𝝎𝒂𝒗𝒆 = =
∆𝒕 𝒕𝟐 − 𝒕𝟏

Instantaneous angular velocity 𝜔

The angular velocity of a rotating body may be constant, may be
increasing or decreasing. At one particular moment, the angular velocity of the
body is called the instantaneous angular velocity. It is the limit of the average
angular velocity as ∆𝑡 approaches zero, i.e., the first derivative of 𝜃 with respect
to time.
MODULE 6: ROTATIONAL MOTION 2

[Type here]
 Saint Louis University
SCHOOL OF ENGINEERING and ARCHITECTURE
Department of Mechanical Engineering

EXAMPLE:
A merry-go-round is being pushed by a child. The angle the merry-go-round has
𝒓𝒂𝒅
turned through varies with time according to the equation 𝜽𝒕 = (𝟐 𝒔 ) 𝒕 +
𝒓𝒂𝒅
(𝟎. 𝟎𝟓 ) 𝒕𝟑 .
𝒔𝟑
a) Calculate the angular velocity of the merry-go-round as a function of
time.
b) What is the initial value of the angular velocity?
c) Calculate the instantaneous value of the angular velocity at t = 5 s and
the average angular velocity for the time interval t = 0 to t = 5 s.

SOLUTION:
a) The angular velocity as a function of time is the first derivative of θ with
respect to time.
𝒅𝜽 𝒓𝒂𝒅 𝒓𝒂𝒅
𝝎(𝒕) = =𝟐 + (𝟎. 𝟏𝟓 𝟑 ) 𝒕𝟐
𝒅𝒕 𝒔 𝒔

b) The initial value of the angular velocity is taken when time t = 0.

𝑟𝑎𝑑 𝑟𝑎𝑑 𝒓𝒂𝒅
𝜔𝑖𝑛𝑖𝑡𝑖𝑎𝑙 = 𝜔𝑖 = 2 + (0.15 3 ) 02 = 𝟐
𝑠 𝑠 𝒔

c) When the time t = 5 s, the instantaneous angular velocity is

𝑟𝑎𝑑 𝑟𝑎𝑑 𝒓𝒂𝒅
𝜔5 𝑠𝑒𝑐 = 2 + (0.15 3 ) (5 𝑠)2 = 𝟓. 𝟕𝟓
𝑠 𝑠 𝒔

For the average angular velocity for the time interval from t = 0 to t = 5 s,
first calculate the value of θ at time t = 0, then at time t = 5 s.
𝑟𝑎𝑑 𝑟𝑎𝑑
When t = 0; 𝜃1 = (2 𝑠 ) (0) + (0.05 𝑠3 ) (0)3 = 0
𝑟𝑎𝑑 𝑟𝑎𝑑
When t = 5 s; 𝜃2 = (2 ) (5 𝑠) + (0.05 ) (5 𝑠)3 = 0 = 16.25 𝑟𝑎𝑑
𝑠 𝑠3

∆𝜃 𝜃2 − 𝜃1 16.25 𝑟𝑎𝑑−0 𝒓𝒂𝒅

𝜔𝑎𝑣𝑒 = = = = 𝟑. 𝟐𝟓
∆𝑡 𝑡2 − 𝑡1 5 𝑠−0 𝒔

MODULE 6: ROTATIONAL MOTION 3

[Type here]
 Saint Louis University
SCHOOL OF ENGINEERING and ARCHITECTURE
Department of Mechanical Engineering

Angular acceleration α
If the angular velocity of a rotating body changes, there is an angular
acceleration. It is understood that the angular velocity of the body either
increases or decreases.

∆𝝎 𝝎𝟐 − 𝝎𝟏
Average angular velocity 𝜶𝒂𝒗𝒆 = =
∆𝒕 𝒕𝟐 − 𝒕𝟏

Instantaneous angular acceleration

EXAMPLE:
𝒓𝒂𝒅
A rigid object rotates with an angular velocity that is given by 𝝎(𝒕) = 𝟒 𝒔 −
𝒓𝒂𝒅
(𝟎. 𝟖 ) 𝒕𝟐
𝒔𝟑
a) Calculate the angular acceleration as a function of time.
b) Calculate the instantaneous angular acceleration at t = 2 s and the
average angular acceleration for the time interval t = 0 to t= 2 s.

SOLUTION:
a) The angular acceleration as a function of time is the first derivative 𝜔 of
with respect to time.
𝒅𝝎 𝒓𝒂𝒅
𝜶= = − (𝟏. 𝟔 𝟑 ) 𝒕
𝒅𝒕 𝒔
b) When the time t = 2 s, the instantaneous angular acceleration is
𝑟𝑎𝑑
𝛼2 𝑠𝑒𝑐 = − (1.6 3 ) (2 𝑠) = −𝟑. 𝟐 𝒓𝒂𝒅/𝒔𝟐
𝑠

For the average angular acceleration for the time interval from t = 0 to t =
2 s, first calculate the value of 𝜔 at time t = 0, then at time t = 2 s.
𝑟𝑎𝑑 𝑟𝑎𝑑
When t = 0; 𝜔1 = 4 𝑠 − (0.8 𝑠3 ) 02 = 0
𝑟𝑎𝑑 𝑟𝑎𝑑
When t = 2 s; 𝜔2 = 4 − (0.8 ) (2 𝑠)2 = 0.8 𝑟𝑎𝑑/𝑠
𝑠 𝑠3

𝑟𝑎𝑑
∆𝜔 𝜔2 − 𝜔1 0.8 𝑠 − 0 𝒓𝒂𝒅
𝛼𝑎𝑣𝑒 = = = = 𝟎. 𝟒 𝟐
∆𝑡 𝑡2 − 𝑡1 2𝑠−0 𝒔

MODULE 6: ROTATIONAL MOTION 4

[Type here]
 Saint Louis University
SCHOOL OF ENGINEERING and ARCHITECTURE
Department of Mechanical Engineering

MOTION WITH CONSTANT ANGULAR ACCELERATION

Whenever a body rotates with constant angular acceleration, its change
of angular velocity is constant for equal time interval. For example, a body which
is initially at rest, rotates with constant acceleration of 4 rad/s2. When time is 0, the
angular velocity of the body is 0, after 1 sec its angular velocity is 4 rad/s, after 2
sec (from starting time), its angular velocity is 8 rad/s, after 3 sec ( from starting
time), its angular velocity is 12 rad/s, etc.

Relation of Linear and Angular Quantities:

Motion with constant linear Motion with constant angular

acceleration acceleration
(a = constant) (α = constant)
𝑣𝑖 + 𝑣𝑓 𝜔𝑖 + 𝜔𝑓
𝑥= 𝑡 𝜃= 𝑡
2 2
𝜔𝑓 = 𝜔𝑖 + 𝛼𝑡
𝑣𝑓 = 𝑣𝑖 + 𝑎𝑡
1 1
𝑥 = 𝑣𝑖 𝑡 + 𝑎𝑡 2 𝜃 = 𝜔𝑖 𝑡 + 𝛼𝑡 2
2 2

1 1
𝑥 = 𝑣𝑓 𝑡 − 𝑎𝑡 2 𝜃 = 𝜔𝑓 𝑡 − 𝛼𝑡 2
2 2

𝜔𝑓2 = 𝜔𝑖2 + 2𝛼𝜃

𝑣𝑓2 = 𝑣𝑖2 + 2𝑎𝑥

EXAMPLES:
1. An electric motor is turned off, and its angular velocity decreases
uniformly from 1000 RPM to 400 RPM in 5 sec.
a) Find the angular acceleration of the motor.
b) Find the number of revolutions the motor made in the 5-s interval.
c) After the 5-s interval, how many more seconds are required by the
motor to come to rest?

SOLUTION:

MODULE 6: ROTATIONAL MOTION 5

[Type here]
 Saint Louis University
SCHOOL OF ENGINEERING and ARCHITECTURE
Department of Mechanical Engineering

𝑟𝑒𝑣 1 𝑚𝑖𝑛 2𝜋 𝑟𝑎𝑑 𝑟𝑎𝑑

𝜔𝑖 = 1000 ∗ ∗ = 104.7198
𝑚𝑖𝑛 60 𝑠 𝑟𝑒𝑣 𝑠
𝑟𝑒𝑣 1 𝑚𝑖𝑛 2𝜋 𝑟𝑎𝑑 𝑟𝑎𝑑
𝜔1 = 400 ∗ ∗ = 41.8879
𝑚𝑖𝑛 60 𝑠 𝑟𝑒𝑣 𝑠

a) 𝜔1 = 𝜔𝑖 + 𝛼𝑡
𝑟𝑎𝑑 𝑟𝑎𝑑
41.8879 = 104.7198 + 𝛼 (5 𝑠)
𝑠 𝑠
𝒓𝒂𝒅
𝜶 = −𝟏𝟐. 𝟓𝟔𝟔𝟒 𝟐
𝒔

𝑟𝑎𝑑 𝑟𝑎𝑑
𝜔𝑖 +𝜔1 (104.7198 +41.8879 )
b) 𝜃 = 𝑡= 𝑠 𝑠
∗5𝑠
2 2
1 𝑟𝑒𝑣
𝜃 = 366.5192 𝑟𝑎𝑑 ∗ = 𝟓𝟖. 𝟑𝟑𝟑𝟑 𝒓𝒆𝒗
2𝜋 𝑟𝑎𝑑

c) 𝜔𝑓 = 𝜔1 + 𝛼𝑡
𝑟𝑎𝑑 𝑟𝑎𝑑
0 = 41.8879 + (−12.5664 2 ) 𝑡
𝑠 𝑠
𝒕 = 𝟑. 𝟑𝟑𝟑𝟑 𝒔

2. The angular velocity of a bicycle wheel is 4 rad/s at t = 0, and its angular

acceleration is constant and equal to 2 rad/s2. A spoke OP on the wheel is
horizontal at t =0.
a) What angle does this spoke make with the horizontal at time t = 3 s?
b) What is the wheel’s angular velocity at this time?

SOLUTION:
a) The angle θ is given as a function of time by the equation
1
𝜃 = 𝜃𝑖 + 𝜔𝑖 𝑡 + 𝛼𝑡 2
2
Since the spoke initially positioned horizontally, 𝜃𝑖 = 0
𝑟𝑎𝑑 1 𝑟𝑎𝑑
𝜃 = 0 + (4 ) (3 𝑠) + (2 2 ) (3 𝑠)2 = 21 𝑟𝑎𝑑
𝑠 2 𝑠
1 𝑟𝑒𝑣
𝜃 = 21 𝑟𝑎𝑑 ∗ = 3.3423 𝑟𝑒𝑣
2 𝜋 𝑟𝑎𝑑
MODULE 6: ROTATIONAL MOTION 6

[Type here]
 Saint Louis University
SCHOOL OF ENGINEERING and ARCHITECTURE
Department of Mechanical Engineering

➢ The body turns through three complete revolutions plus an

360𝑜
additional 0.3423 rev ( 0.3423 𝑟𝑒𝑣 ∗ 1 𝑟𝑒𝑣 = 123.228𝑜 ). The line
OP thus turns through 123.228o and makes an angle of 56.772o(180o-
123.228o) with the horizontal.

b) At time t = 3 s
𝑟𝑎𝑑 𝑟𝑎𝑑 𝒓𝒂𝒅
𝜔𝑓 = 𝜔𝑖 + 𝛼𝑡 = 4 + (2 2 ) (3 𝑠) = 𝟏𝟎
𝑠 𝑠 𝒔

TORQUE:
The ability of a force to rotate a body about some axis is measured by a
quantity called torque  (Greek letter ‘tau’).

a) The torque due to a force of F has a magnitude of

 = Fd
i)  is torque (N·m).
ii) F is the applied force (N).
iii) d is the lever arm (also called the moment arm) distance (m).

b) The lever arm is the ⊥ distance from the axis of rotation to a line drawn
along the direction of the force. Note that
d = r sin 
Where r is the magnitude of the displacement from the axis to the point
of the applied force F and Φ is the angle between the direction of r and
the direction of F.

MODULE 6: ROTATIONAL MOTION 7

[Type here]
 Saint Louis University
SCHOOL OF ENGINEERING and ARCHITECTURE
Department of Mechanical Engineering

c) As a result, we can rewrite the torque equation as

 = Fr sin 
d) Torque is actually a vector which points in a direction perpendicular to
the plane defined by the F and r vectors.

e) The net torque is found by summing all torques (i.e., multiple forces
acting on a rotating object).
N
 net =  i =  1 +  2 + ... +  N = F1d1 + F2 d 2 + ... + FN d N
i =1

i)  is positive if the rotation is counter clockwise (CCW).

ii)  is negative if the rotation is clockwise (CW).

Assignment #6. Due July 16, 2020

1. (a) What angle in radians is subtended by an arc 1.50 m long on the
circumference of a circle of radius 2.50 m? What is this angle in degrees?
(b) An arc 14.0 cm long on the circumference ofa circle subtends an
MODULE 6: ROTATIONAL MOTION 8

[Type here]
 Saint Louis University
SCHOOL OF ENGINEERING and ARCHITECTURE
Department of Mechanical Engineering

angle of 128o. What is the radius of the circle?

(c) The angle between two radii of a circle with radius 1.50 m is 0.700 rad.
What length of arc is intercepted on the circumference of the circle by
the two radii?
2. A turntable rotates with a constant 2.25 rad/s2 angular acceleration. After
4.00 s it has rotated through an angle of 60.0 rad. What was the angular
velocity of the wheel at the beginning of the 4.00-s interval?
3. A circular saw blade 0.200 m in diameter starts from rest. In 6.00 s it
accelerates with constant angular acceleration to an angular velocity of
140 rad/s. Find the angular acceleration and the angle through which the
blade has turned.
4. At t=0 a grinding wheel has an angular velocity of 24 rad/s. It has a
constant angular acceleration of 30 rad/s2 until a circuit breaker trips at t
= 2s. From then on, it turns through 432 rad as it coasts to a stop at
constant angular acceleration. (a) Through what total angle did the
wheel turn between t = 0 and the time it stopped? (b) At what time did it
stop? (c) What was its acceleration as it slowed down?

MODULE 6: ROTATIONAL MOTION 9

[Type here]